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WO2006058442A8 - Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin - Google Patents

Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin

Info

Publication number
WO2006058442A8
WO2006058442A8 PCT/CH2005/000236 CH2005000236W WO2006058442A8 WO 2006058442 A8 WO2006058442 A8 WO 2006058442A8 CH 2005000236 W CH2005000236 W CH 2005000236W WO 2006058442 A8 WO2006058442 A8 WO 2006058442A8
Authority
WO
WIPO (PCT)
Prior art keywords
rotation module
upper arm
drive
module
arm rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CH2005/000236
Other languages
German (de)
English (en)
Other versions
WO2006058442A1 (fr
Inventor
Tobias Nef
Robert Riener
Daniel Wegmann
Gery Colombo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eidgenoessische Technische Hochschule Zurich ETHZ
Zurich Universitaet Institut fuer Medizinische Virologie
Original Assignee
Eidgenoessische Technische Hochschule Zurich ETHZ
Zurich Universitaet Institut fuer Medizinische Virologie
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eidgenoessische Technische Hochschule Zurich ETHZ, Zurich Universitaet Institut fuer Medizinische Virologie filed Critical Eidgenoessische Technische Hochschule Zurich ETHZ
Priority to EP05732653A priority Critical patent/EP1827349A1/fr
Priority to US11/792,035 priority patent/US20090149783A1/en
Priority to JP2007541621A priority patent/JP2008521454A/ja
Publication of WO2006058442A1 publication Critical patent/WO2006058442A1/fr
Publication of WO2006058442A8 publication Critical patent/WO2006058442A8/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4049—Rotational movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/03508—For a single arm or leg
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1245—Primarily by articulating the shoulder joint

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système pour une thérapie du bras qui dispose de plusieurs mécanismes de commande. Un premier mécanisme de commande (11) et un deuxième mécanisme de commande (26) déterminent la position d'un module de rotation de bras (16, 17). Le bras d'un utilisateur peut être fixé au moyen d'un manchon (10). Le module de rotation de bras (16, 17) est en deux parties et un troisième mécanisme de commande (29) est prévu pour faire tourner le manchon de bras (10) qui est placé à l'intérieur (17) et qui est sensiblement en forme de cylindre creux à l'état fermé autour de son axe principal par rapport à la partie extérieure (16) du module de rotation de bras (16, 17). Le module de rotation de bras (16, 17) est relié à un module de rotation d'articulation de poignet (20, 21) de même conception que le module susmentionné, par l'intermédiaire d'un module de rotation de coude à rotation transversale (22, 23). Il est ainsi possible d'effectuer une rotation de l'épaule vers l'intérieur et vers l'extérieur, une flexion ou une extension du coude et une pronation/supination du bras au moyen des différents mécanismes de commande, sous forme de mouvement relatif des manchons (8, 9 et 10) les uns par rapport aux autres.
PCT/CH2005/000236 2004-11-30 2005-04-28 Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin Ceased WO2006058442A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP05732653A EP1827349A1 (fr) 2004-11-30 2005-04-28 Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin
US11/792,035 US20090149783A1 (en) 2004-11-30 2005-04-28 System And Method For A Cooperative Arm Therapy And Corresponding Rotation Module
JP2007541621A JP2008521454A (ja) 2004-11-30 2005-04-28 協調的腕治療のためのシステムおよび方法ならびに対応する回転モジュール

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP04028310.3 2004-11-30
EP04028310 2004-11-30

Publications (2)

Publication Number Publication Date
WO2006058442A1 WO2006058442A1 (fr) 2006-06-08
WO2006058442A8 true WO2006058442A8 (fr) 2006-08-31

Family

ID=34965052

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CH2005/000236 Ceased WO2006058442A1 (fr) 2004-11-30 2005-04-28 Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin

Country Status (4)

Country Link
US (1) US20090149783A1 (fr)
EP (1) EP1827349A1 (fr)
JP (1) JP2008521454A (fr)
WO (1) WO2006058442A1 (fr)

Cited By (2)

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CN109288651A (zh) * 2018-08-20 2019-02-01 中国科学院苏州生物医学工程技术研究所 个性化上肢康复训练机器人系统及其康复训练方法
US10278881B1 (en) 2013-12-12 2019-05-07 Ermi, Inc. Devices and methods for assisting pronation and/or supination

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US10278881B1 (en) 2013-12-12 2019-05-07 Ermi, Inc. Devices and methods for assisting pronation and/or supination
US11666501B2 (en) 2013-12-12 2023-06-06 Ermi Llc Devices and methods for assisting pronation and/or supination
US11826274B1 (en) 2013-12-12 2023-11-28 Ermi Llc Devices and methods for assisting extension and/or flexion
CN109288651A (zh) * 2018-08-20 2019-02-01 中国科学院苏州生物医学工程技术研究所 个性化上肢康复训练机器人系统及其康复训练方法

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